orb topic messages:

-added flag to enable weathervane yaw control for vtol
-added comment to keep virtual topics and original topic identical

msg/fw_virtual_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps

msg/fw_virtual_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1

msg/mc_virtual_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps

msg/mc_virtual_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1

msg/position_setpoint.msg

@@ -23,6 +23,7 @@ float64 lon			# longitude, in deg
 float32 alt			# altitude AMSL, in m
 float32 yaw			# yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
 bool yaw_valid			# true if yaw setpoint valid
+bool disable_mc_yaw_control		# control yaw for mc (used for vtol weather-vane mode)
 float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid
 float32 loiter_radius		# loiter radius (only for fixed wing), in m

msg/vehicle_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -23,5 +32,6 @@ bool pitch_reset_integral			# Reset pitch integral part (navigation logic change
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
 
 bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps

msg/vehicle_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1